Bipartite tracking consensus of nonlinear multi-agent systems with exogenous disturbances

A study is conducted on the leader-follower bipartite consensus of nonlinear multi-agent systems (MASs) in the presence of external disturbances, utilising state feedback control and adaptive feedback control. A disturbance observer is first designed to estimate exogenous disturbances in real time. Based on the estimates, a state feedback control protocol incorporating a compensation term is proposed to mitigate these disturbances and counteract nonlinearities. Furthermore, an adaptive distributed control protocol is developed to achieve bipartite tracking consensus (BTC), ensuring that the dynamic gain of each follower converges to a finite value. Finally, simulation results demonstrate the effectiveness of the proposed BTC algorithm.